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I solved my problem by writing a ROS service that requires a "package://..." filename as input and returns the contents of that file. It is basically a very simple read-only ROS file server.

I like this solution since: - i do not need to set up additional server beside ROSbridge - in contrast to the ros3djs solution, i can load the meshes directly from the ROS PC and do not need any external repositories. - i can read the Collada mesh files in a very similar way as i read the urdf JSON message on the client side.